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added esc calibration routines

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This commit is contained in:
Roman Bapst
2015-04-28 14:54:58 +02:00
parent bd1c3363df
commit be03f98d64
4 changed files with 213 additions and 0 deletions
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src/modules/commander/commander.cpp
+13
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@@ -114,6 +114,7 @@
#include "baro_calibration.h"
#include "rc_calibration.h"
#include "airspeed_calibration.h"
#include "esc_calibration.h"
#include "PreflightCheck.h"
/* oddly, ERROR is not defined for c++ */
@@ -2708,6 +2709,16 @@ void *commander_low_prio_loop(void *arg)
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
calib_ret = do_airspeed_calibration(mavlink_fd);
} else if ((int)(cmd.param7) == 1) {
/* do esc calibration */
calib_ret = check_if_batt_disconnected(mavlink_fd);
if(calib_ret == OK) {
answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED);
armed.in_esc_calibration_mode = true;
calib_ret = do_esc_calibration(mavlink_fd);
armed.in_esc_calibration_mode = false;
}
} else if ((int)(cmd.param4) == 0) {
/* RC calibration ended - have we been in one worth confirming? */
if (status.rc_input_blocked) {
@@ -2717,6 +2728,8 @@ void *commander_low_prio_loop(void *arg)
mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
calib_ret = OK;
}
/* this always succeeds */
calib_ret = OK;
}
if (calib_ret == OK) {